Significance Self-assembly is a process in which functional nanoscale structures build themselves, driven by Brownian motion and interactions between components. The term was originally coined to describe the formation of a viral capsid, the protein shell that protects the genome of a virus. Despite decades of study, how capsids self-assemble has remained a mystery, because there were no methods to measure the assembly kinetics of individual capsids. We surmount this obstacle using a sensitive microscopy technique based on laser interferometry. The measurements show that a small nucleus of proteins must form on the viral RNA before the capsid assembles. These results might help researchers design strategies to stop the assembly of pathogenic viruses or to build synthetic nanostructures.